The fuzzy PID control optimized by genetic algorithm for trajectory tracking of robot arm

摘要

According to the characteristics of strong coupling and nonlinearity of the robot arm control system, a fuzzy PID controller optimized by the genetic algorithm (GA) is proposed. The method realizes the control of nonlinear system and improves the dynamic response speed and adaptive capacity of the system by the fuzzy control strategy. Taking the overall performance index as the fitness function, the genetic algorithm is used to optimize and self-tune the PID control parameters to meet the design requirements of system which can make up the shortage of low precision of fuzzy control. In the control of robot arm, the fuzzy PID control based on parameter optimization by the genetic algorithm has the characteristics of fast response and small overshoot. In the presence of external disturbances and parameter variation of the object, system has a certain ability to adapt. Simulation results show that the algorithm is effective and practical, and can be used in other control objects and processes.